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<div class="title">internal.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
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<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#ifndef PCL_GPU_FEATURES_INTERNAL_HPP_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#define PCL_GPU_FEATURES_INTERNAL_HPP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/containers/device_array.h&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/octree/device_format.hpp&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;cuda_runtime.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#undef PI</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#ifndef PI</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">    #define PI 3.1415926535897931f               </span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keyword">namespace </span>device</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    {   </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">pcl::gpu::DeviceArray</a>;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::gpu::DeviceArray2D</a>;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        <span class="keyword">using</span> <a class="code" href="structpcl_1_1gpu_1_1_neighbor_indices.html">pcl::gpu::NeighborIndices</a>;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        <span class="keyword">typedef</span> float4 PointType;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        <span class="keyword">typedef</span> float4 NormalType;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        <span class="keyword">typedef</span> float4 PointXYZRGB;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keyword">typedef</span> DeviceArray&lt; PointType&gt; <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;        </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        <span class="keyword">typedef</span> DeviceArray&lt;NormalType&gt; Normals;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <span class="keyword">typedef</span> DeviceArray&lt;int&gt; Indices;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="keyword">typedef</span> DeviceArray&lt; PointType&gt; PointXYZRGBCloud;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_histogram.html">   68</a></span>&#160;        <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> N&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1device_1_1_histogram.html">Histogram</a></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        {</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;            <span class="keywordtype">float</span> histogram[N];</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        };</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1device_1_1_histogram.html">Histogram&lt;125&gt;</a> <a class="code" href="structpcl_1_1device_1_1_histogram.html">PFHSignature125</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1device_1_1_histogram.html">Histogram&lt;250&gt;</a> <a class="code" href="structpcl_1_1device_1_1_histogram.html">PFHRGBSignature250</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1device_1_1_histogram.html">Histogram&lt;33&gt;</a>  <a class="code" href="structpcl_1_1device_1_1_histogram.html">FPFHSignature33</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1device_1_1_histogram.html">Histogram&lt;308&gt;</a> <a class="code" href="structpcl_1_1device_1_1_histogram.html">VFHSignature308</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_p_p_f_signature.html">   78</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1device_1_1_p_p_f_signature.html">PPFSignature</a></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        {</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;            <span class="keywordtype">float</span> f1, f2, f3, f4;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;            <span class="keywordtype">float</span> alpha_m;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        };</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_p_p_f_r_g_b_signature.html">   84</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1device_1_1_p_p_f_r_g_b_signature.html">PPFRGBSignature</a></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;            <span class="keywordtype">float</span> f1, f2, f3, f4;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;            <span class="keywordtype">float</span> r_ratio, g_ratio, b_ratio;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;            <span class="keywordtype">float</span> alpha_m;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        };</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    </div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_principal_curvatures.html">   91</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1device_1_1_principal_curvatures.html">PrincipalCurvatures</a></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;            <span class="keyword">union</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;            {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                <span class="keywordtype">float</span> principal_curvature[3];</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                <span class="keyword">struct</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                {</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                    <span class="keywordtype">float</span> principal_curvature_x;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                    <span class="keywordtype">float</span> principal_curvature_y;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                    <span class="keywordtype">float</span> principal_curvature_z;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                };</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;            };</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;            <span class="keywordtype">float</span> pc1;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;            <span class="keywordtype">float</span> pc2;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        };</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <span class="comment">// normals estimation</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keywordtype">void</span> computeNormals(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">PointCloud</a>&amp; cloud, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_neighbor_indices.html">NeighborIndices</a>&amp; nn_indices, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Normals</a>&amp; normals);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keywordtype">void</span> flipNormalTowardsViewpoint(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">PointCloud</a>&amp; cloud, <span class="keyword">const</span> float3&amp; vp, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Normals</a>&amp; normals);        </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <span class="keywordtype">void</span> flipNormalTowardsViewpoint(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">PointCloud</a>&amp; cloud, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Indices</a>&amp; indices, <span class="keyword">const</span> float3&amp; vp, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Normals</a>&amp; normals);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="comment">// pfh estimation        </span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keywordtype">void</span> repackToAosForPfh(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">PointCloud</a>&amp; cloud, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Normals</a>&amp; normals, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_neighbor_indices.html">NeighborIndices</a>&amp; neighbours, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;float&gt;</a>&amp; data_rpk, <span class="keywordtype">int</span>&amp; max_elems_rpk);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keywordtype">void</span> computePfh125(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;float&gt;</a>&amp; data_rpk, <span class="keywordtype">int</span> max_elems_rpk, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_neighbor_indices.html">NeighborIndices</a>&amp; neighbours, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;PFHSignature125&gt;</a>&amp; features);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keywordtype">void</span> repackToAosForPfhRgb(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">PointCloud</a>&amp; cloud, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Normals</a>&amp; normals, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_neighbor_indices.html">NeighborIndices</a>&amp; neighbours, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;float&gt;</a>&amp; data_rpk, <span class="keywordtype">int</span>&amp; max_elems_rpk);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <span class="keywordtype">void</span> computePfhRgb250(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;float&gt;</a>&amp; data_rpk, <span class="keywordtype">int</span> max_elems_rpk, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_neighbor_indices.html">NeighborIndices</a>&amp; neighbours, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;PFHRGBSignature250&gt;</a>&amp; features);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="comment">// fpfh estimation</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keywordtype">void</span> computeSPFH(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">PointCloud</a>&amp; surface, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Normals</a>&amp; normals, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Indices</a>&amp; indices, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_neighbor_indices.html">NeighborIndices</a>&amp; neighbours, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;FPFHSignature33&gt;</a>&amp; spfh33);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <span class="keywordtype">void</span> computeFPFH(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">PointCloud</a>&amp; cloud, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_neighbor_indices.html">NeighborIndices</a>&amp; neighbours, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;FPFHSignature33&gt;</a>&amp; spfh, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;FPFHSignature33&gt;</a>&amp; features);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keywordtype">void</span> computeFPFH(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">PointCloud</a>&amp; cloud, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Indices</a>&amp; indices, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">PointCloud</a>&amp; surface, </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;            <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_neighbor_indices.html">NeighborIndices</a>&amp; neighbours, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;int&gt;</a>&amp; lookup, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;FPFHSignature33&gt;</a>&amp; spfh, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;FPFHSignature33&gt;</a>&amp; features);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keywordtype">int</span> computeUniqueIndices(<span class="keywordtype">size_t</span> surface_size, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_neighbor_indices.html">NeighborIndices</a>&amp; neighbours, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;int&gt;</a>&amp; unique_indices, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;int&gt;</a>&amp; lookup);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <span class="comment">// ppf estimation         </span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <span class="keywordtype">void</span> computePPF(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">PointCloud</a>&amp; input, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Normals</a>&amp; normals, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Indices</a>&amp; indices, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;PPFSignature&gt;</a>&amp; output);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="keywordtype">void</span> computePPFRGB(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">PointXYZRGBCloud</a>&amp; input, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Normals</a>&amp; normals, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Indices</a>&amp; indices, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;PPFRGBSignature&gt;</a>&amp; output);        </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <span class="keywordtype">void</span> computePPFRGBRegion(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">PointXYZRGBCloud</a>&amp; cloud, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Normals</a>&amp; normals, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Indices</a>&amp; indices, </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;            <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_neighbor_indices.html">NeighborIndices</a>&amp; nn_indices, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;PPFRGBSignature&gt;</a>&amp; output);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="comment">//PrincipalCurvatures estimation</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keywordtype">void</span> computePointPrincipalCurvatures(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Normals</a>&amp; normals, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Indices</a>&amp; indices, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_neighbor_indices.html">NeighborIndices</a>&amp; neighbours, </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;            <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;PrincipalCurvatures&gt;</a>&amp; output, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;float&gt;</a>&amp; proj_normals_buf);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <span class="comment">//vfh estimation</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">compute3DCentroid</a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;PointT&gt;</a>&amp; cloud, float3&amp; centroid);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">compute3DCentroid</a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;PointT&gt;</a>&amp; cloud,  <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Indices</a>&amp; indices, float3&amp; centroid);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; float3 <a class="code" href="group__common.html#ga1583a71aef0f54550adef0ebfef89edd">getMaxDistance</a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;PointT&gt;</a>&amp; cloud, <span class="keyword">const</span> float3&amp; pivot);        </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; float3 <a class="code" href="group__common.html#ga1583a71aef0f54550adef0ebfef89edd">getMaxDistance</a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;PointT&gt;</a>&amp; cloud, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Indices</a>&amp; indices, <span class="keyword">const</span> float3&amp; pivot);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_v_f_h_estimation_impl.html">  147</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1device_1_1_v_f_h_estimation_impl.html">VFHEstimationImpl</a></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        {</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;            float3 xyz_centroid;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;            float3 normal_centroid;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;            float3 viewpoint;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;            <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Indices</a> indices;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;            <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">PointCloud</a> points;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;            <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Normals</a> normals;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;            <span class="keywordtype">bool</span> normalize_distances;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;            <span class="keywordtype">bool</span> size_component;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;            <span class="keywordtype">bool</span> normalize_bins;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;       </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;            <span class="keywordtype">void</span> compute(<a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;VFHSignature308&gt;</a>&amp; feature);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        };</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="comment">//spinimages estimation</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        <span class="keywordtype">void</span> computeSpinImagesOrigigNormal(<span class="keywordtype">bool</span> radial, <span class="keywordtype">bool</span> angular, <span class="keywordtype">float</span> support_angle_cos, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Indices</a>&amp; indices, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">PointCloud</a>&amp; input_cloud, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Normals</a>&amp; input_normals,</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">PointCloud</a>&amp; surface, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Normals</a>&amp; normals, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_neighbor_indices.html">NeighborIndices</a>&amp; neighbours, <span class="keywordtype">int</span> min_neighb, <span class="keywordtype">int</span> image_width, <span class="keywordtype">float</span> bin_size, <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;float&gt;</a> output);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <span class="keywordtype">void</span> computeSpinImagesCustomAxes(<span class="keywordtype">bool</span> radial, <span class="keywordtype">bool</span> angular, <span class="keywordtype">float</span> support_angle_cos, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Indices</a>&amp; indices, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">PointCloud</a>&amp; input_cloud, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Normals</a>&amp; input_normals,</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">PointCloud</a>&amp; surface, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Normals</a>&amp; normals, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_neighbor_indices.html">NeighborIndices</a>&amp; neighbours, <span class="keywordtype">int</span> min_neighb, <span class="keywordtype">int</span> image_width, <span class="keywordtype">float</span> bin_size, <span class="keyword">const</span> float3&amp; rotation_axis, <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;float&gt;</a> output);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <span class="keywordtype">void</span> computeSpinImagesCustomAxesCloud(<span class="keywordtype">bool</span> radial, <span class="keywordtype">bool</span> angular, <span class="keywordtype">float</span> support_angle_cos, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Indices</a>&amp; indices, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">PointCloud</a>&amp; input_cloud, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Normals</a>&amp; input_normals,</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">PointCloud</a>&amp; surface, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Normals</a>&amp; normals, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_neighbor_indices.html">NeighborIndices</a>&amp; neighbours, <span class="keywordtype">int</span> min_neighb, <span class="keywordtype">int</span> image_width, <span class="keywordtype">float</span> bin_size, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Normals</a>&amp; rotation_axes_cloud, <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;float&gt;</a> output);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <span class="keywordtype">void</span> computeMask(<span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_neighbor_indices.html">NeighborIndices</a>&amp; neighbours, <span class="keywordtype">int</span> min_neighb, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;unsigned char&gt;</a>&amp; mask);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    }</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;}</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_GPU_FEATURES_INTERNAL_HPP_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array2_d_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::gpu::DeviceArray2D</a></div><div class="ttdoc">DeviceArray2D class</div><div class="ttdef"><b>Definition:</b> device_array.h:155</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array.html">pcl::gpu::DeviceArray</a></div><div class="ttdoc">DeviceArray class</div><div class="ttdef"><b>Definition:</b> device_array.h:58</div></div>
<div class="ttc" id="agroup__common_html_ga1583a71aef0f54550adef0ebfef89edd"><div class="ttname"><a href="group__common.html#ga1583a71aef0f54550adef0ebfef89edd">pcl::getMaxDistance</a></div><div class="ttdeci">void getMaxDistance(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, const Eigen::Vector4f &amp;pivot_pt, Eigen::Vector4f &amp;max_pt)</div><div class="ttdoc">Get the point at maximum distance from a given point and a given pointcloud</div><div class="ttdef"><b>Definition:</b> common.hpp:130</div></div>
<div class="ttc" id="agroup__common_html_gaf5729fae15603888b49743b118025290"><div class="ttname"><a href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a></div><div class="ttdeci">unsigned int compute3DCentroid(ConstCloudIterator&lt; PointT &gt; &amp;cloud_iterator, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the 3D (X-Y-Z) centroid of a set of points and return it as a 3D vector.</div><div class="ttdef"><b>Definition:</b> centroid.hpp:50</div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_histogram_html"><div class="ttname"><a href="structpcl_1_1device_1_1_histogram.html">pcl::device::Histogram</a></div><div class="ttdef"><b>Definition:</b> internal.hpp:69</div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_p_p_f_r_g_b_signature_html"><div class="ttname"><a href="structpcl_1_1device_1_1_p_p_f_r_g_b_signature.html">pcl::device::PPFRGBSignature</a></div><div class="ttdef"><b>Definition:</b> internal.hpp:85</div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_p_p_f_signature_html"><div class="ttname"><a href="structpcl_1_1device_1_1_p_p_f_signature.html">pcl::device::PPFSignature</a></div><div class="ttdef"><b>Definition:</b> internal.hpp:79</div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_principal_curvatures_html"><div class="ttname"><a href="structpcl_1_1device_1_1_principal_curvatures.html">pcl::device::PrincipalCurvatures</a></div><div class="ttdef"><b>Definition:</b> internal.hpp:92</div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_v_f_h_estimation_impl_html"><div class="ttname"><a href="structpcl_1_1device_1_1_v_f_h_estimation_impl.html">pcl::device::VFHEstimationImpl</a></div><div class="ttdef"><b>Definition:</b> internal.hpp:148</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_neighbor_indices_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1_neighbor_indices.html">pcl::gpu::NeighborIndices</a></div><div class="ttdef"><b>Definition:</b> device_format.hpp:47</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ptr_step_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ptr_step.html">pcl::gpu::PtrStep</a></div><div class="ttdef"><b>Definition:</b> kernel_containers.h:78</div></div>
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